Reference coordinate system determination

• US 10,309,762 B2
• Filed: 06/15/2016
• Issued: 06/04/2019
• Est. Priority Date: 11/02/2012
• Status: Active Grant

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm, Inc.
• Inventors: Gupta, Prince, Wagner, Daniel, Reitmayr, Gerhard, Mulloni, Alessandro
• Primary Examiner(s): Tran, Nhan T
• Application Number:
  US15/182,750
• Publication Number:
  US 20160300340A1
• Time in Patent Office: 1,084 Days
• Field of Search: 382154
• CPC Class Codes: G01B 11/002 for measuring two or more coordinates
• CPC Class Codes: G06T 19/006 Mixed reality object pose determination, tracking or camera calibration for mixed reality G06T7/00
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80

Abstract

A method of determining a reference coordinate system includes: obtaining information indicative of a direction of gravity relative to a device; and converting an orientation of a device coordinate system using the direction of gravity relative to the device to produce the reference coordinate system. The method may also include setting an origin of the reference coordinate system and/or determining a scale value of the reference coordinate system. The method may also include refining the reference coordinate system.

Claims

1. A method of determining a reference coordinate system for use by a device, the method comprising:

obtaining an image frame;

determining a point cloud based on the image frame; and

producing the reference coordinate system based on the point cloud by setting an origin of the reference coordinate system to a geometric center of a substantially planar portion of the point cloud.

2. The method of claim 1, further comprising calculating a scale value and wherein the reference coordinate system is produced using the scale value.

3. The method of claim 2, wherein the scale value is calculated based on the point cloud.

4. The method of claim 3, wherein calculating the scale value comprises comparing a dimension of the point cloud to a reference value.

5. The method of claim 2, wherein calculating the scale value comprises calculating the scale value such that an origin of the reference coordinate system will have a predetermined distance from the device.

6. The method of claim 2, wherein calculating the scale value comprises using absolute measurements from one or more input sensors of the device.

7. The method of claim 6, wherein the one or more input sensors comprise an accelerometer, or a plurality of cameras, or a combination thereof.

8. A device for determining a reference coordinate system, the device comprising:

means for obtaining an image frame;

means for determining a point cloud based on the image frame; and

means for producing the reference coordinate system based on the point cloud, including means for setting an origin of the reference coordinate system to a geometric center of a substantially planar portion of the point cloud.

9. The device of claim 8, further comprising means for calculating a scale value, wherein the means for producing the reference coordinate system uses the scale value.

10. The device of claim 9, wherein the means for calculating the scale value use the point cloud.

11. The device of claim 10, wherein the means for calculating the scale value comprises means for comparing a dimension of the point cloud to a reference value.

12. The device of claim 10, the means for calculating the scale value set an origin of the reference coordinate system a predetermined distance from the device.

13. A mobile device comprising:

a camera configured to obtain an image frame; and

a processor, communicatively coupled to the camera, configured to;

determine a point cloud based on the image frame; and

produce the reference coordinate system based on the point cloud by setting an origin of the reference coordinate system to a geometric center of a substantially planar portion of the point cloud.

14. The mobile device of claim 13, wherein the processor is further configured to calculate a scale value based on the point cloud, and wherein the processor is further configured to produce the reference coordinate system using the scale value.

15. A non-transitory processor-readable storage medium comprising processor-readable instructions configured to cause a processor of a device to:

obtain an image frame;

determine a point cloud based on the image frame;

produce the reference coordinate system based on the point cloud; and

set an origin of the reference coordinate system to a geometric center of a substantially planar portion of the point cloud.

16. The non-transitory processor-readable storage medium of claim 15, further comprising processor-readable instructions configured to calculate a scale value based on the point cloud, wherein the instructions configured to cause the processor to produce the reference coordinate system use the scale value.